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기계 부품의 조립분해 작업을 위한 로봇핸드 그리퍼 설계 및 견실제어에 관한 연구
정규현(Gyu-Hyun Jeong),신기수(Gi-Su Shin),노연국(Yeon-Guk Noh),문병갑(Byeong-Gap Moon),윤병석(Byeong-Seok Yoon),배호영(Ho-Young Bae),김민성(Min-Seong Kim),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.4
This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler’s equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.
단조공정 트리밍작업 자동화를 위한 병진관절을 갖는 7축 다관절 로봇의 최적 작업경로제어에 관한 연구
김민성(Min-Seong Kim),최민혁(Min-Hyuk Choi),배호영(Ho-Young Bae),임오득(Oh-Deuk Im),강정석(Jung-Suk Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2018 한국산업융합학회 논문집 Vol.21 No.2
This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.
2족 보행로봇의 실시간 작업동작 생성을 위한 지능제어에 관한 연구
김민성(Min-Seong Kim),조상영(Sang-Young Jo),구영목(Young-Mok Koo),정양근(Yang-Gun Jeong),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.
큐브위성 탑재를 위한 MEMS 고체 추력기의 구조설계 및 검증
장수은(Su-Eun Jang),한성현(Sung-Hyeon Han),김태규(Tae-Gyu Kim),이종광(Jong-Kwang Lee),장태성(Tae-Seong Jang),오현웅(Hyun-Ung Oh) 한국항공우주학회 2015 韓國航空宇宙學會誌 Vol.43 No.5
MEMS 고체 추력기 모듈은 MEMS 고체 추력기와 MEMS 추력기 제어보드로 구성된다. MEMS 고체 추력기는 학문적 연구개발 목적으로 개발되었기 때문에 발사환경을 고려한 설계 및 시험이 이루어지지 않아 이를 큐브위성에 탑재 및 궤도검증을 위해서는 설계 시 추력기 모듈로의 발사하중이 최소화 되도록 하는 위성체 시스템 레벨에서의 설계노력이 요구된다. 본 논문에서는 MEMS 고체 추력기의 조립 및 시험과정에서의 탈장착 용이성 및 발사환경에서의 구조건전성 확보를 위해 브래킷을 이용한 구조설계를 제안하였으며, 준정적해석과 랜덤해석 및 진동시험을 통해 설계의 유효성을 검증하였다. 또한, 본 논문에서 제안한 스프링 핀을 이용한 MEMS 추력기와의 전기적 체결방식은 발사 진동에서의 구조건전성 확보에 유효함을 입증하였다. MEMS solid thruster module is composed of solid thruster and its control board. It was developed for the purpose of an academic research. Therefore, thermo-mechanical design and verification for space usage were not considered in the design phase. To mount it on a cube satellite without any design modification, technical efforts at the system level structure design is required. In this study, we proposed a structural design concept to mount the MEMS thruster module by using brackets for guaranteeing structure safety under launch loads and easier mating and de-mating of MEMS thruster module during test phase. The effectiveness of the design has been verified through structural analysis and vibration test. In addition, electrical connection method using spring pins between MEMS thruster and control board is effective for guaranteeing the structural safety under launch vibration loads.